The embodiment of the invention provides a planned trajectory evaluation method and device based on a vehicle collision risk, and relates to the technical field of vehicle driving assistance. The method comprises the steps of obtaining a vehicle planning track and a target vehicle prediction track; traversing all trajectory points of the planned trajectory, and obtaining own vehicle information corresponding to the current trajectory point and target vehicle information corresponding to the current trajectory point; traversing all target vehicles, and calculating the nearest distance between the vehicle and the current target vehicle under the current track point; evaluating the collision risk of the vehicle and the current target vehicle based on the nearest distance; if all the target vehicles are traversed, the collision risk of the vehicle under the current track point is evaluated; and if all the trajectory points are traversed, evaluating the collision risk of the vehicle corresponding to the planned trajectory. According to the method, the vehicle and the target vehicle are simplified into direction vectors, the nearest distance between the two direction vectors at each moment is calculated, more accurate collision risk evaluation of the planned trajectory of the vehicle is realized, and the problem that an existing method is not high in accuracy is solved.
本申请实施例提供一种基于车辆碰撞风险的规划轨迹评价方法及装置,涉及车辆驾驶辅助技术领域。该方法包括获取自车规划轨迹和目标车辆预测轨迹;遍历规划轨迹的所有轨迹点,并获取当前轨迹点对应的自车信息和当前轨迹点对应的目标车辆信息;遍历所有目标车辆,计算当前轨迹点下自车和当前目标车辆的最近距离;基于最近距离评估自车和当前目标车辆的碰撞风险;若所有目标车辆均遍历完成,则评估当前轨迹点下自车的碰撞风险;若所有轨迹点均遍历完成,则评估规划轨迹对应的自车的碰撞风险。将自车和目标车辆简化为方向向量,计算每一时刻两个方向向量之间的最近距离,实现对自车规划轨迹更精确的碰撞风险评价,解决了现有方法准确性不高的问题。
Planned trajectory evaluation method and device based on vehicle collision risk
一种基于车辆碰撞风险的规划轨迹评价方法及装置
2024-04-12
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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